I. Dutta, D. Savoie, B. Fang, B. Venon, C. l. Garrido Alzar, et al.. Continuous Cold-Atom Inertial Sensor with 1  nrad/sec Rotation Stability. Physical Review Letters, 2016, 116 (18), We report the operation of a cold-atom inertial sensor which continuously captures the rotation signal. Using a joint interrogation scheme, where we simultaneously prepare a cold-atom source and operate an atom interferometer (AI), enables us to eliminate the dead times. We show that such continuous operation improves the short-term sensitivity of AIs, and demonstrate a rotation sensitivity of 100  nrad/sec/Hz−−−√ in a cold-atom gyroscope of 11  cm2 Sagnac area. We also demonstrate a rotation stability of 1  nrad/sec at 104  sec of integration time, which represents the state of the art for atomic gyroscopes. The continuous operation of cold-atom inertial sensors will lead to large area AIs at their full sensitivity potential, determined by the quantum noise limit. ⟨10.1103/PhysRevLett.116.183003⟩. ⟨hal-01321643⟩